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38 Fieldbus interface
3 Basics IL•1F CANopen DS301
0198441113586, V2.01, 11.2008
Reference positions are entered in increments, reference speeds in
[min
-1
].
If operating mode, reference position and reference speed are transmit-
ted simultaneously in one PDO, data consistency is required. For this
reason, the product evaluates the operating mode data only if bit 7 was
toggled. Toggling means that a "0 -> 1" or a "1 -> 0" change of edge was
detected.
Bit 7 is mirrored in the response PDO4 from the product so that synchro-
nized operation is possible via PDO4.
Handling of errors Requests for operating mode are triggered by toggling the bit 7 . If these
requests cannot be executed, the product provides an error response as
described in section Transmit PDO4 - Handling of errors.
3.4.2.3 Transmit PDO T_PDO4 (product to master)
With the default product settings, the transmit PDO is sent asynchro-
nously and in an "event-driven" way; an "Inhibit Time" can be set.
The product provides the master with the following information via
PDO4:
• State of state machine
• Errors and warnings
• Active operating mode
• Status of active operating mode
– Operating mode terminated
– Error occurred
– Reference speed or reference position reached
– Actual position
• Slave referenced
• Acknowledgement of operating mode requests
• Status of the 24 V inputs and outputs
@ WARNING
UNINTENDED OPERATION
• Note that any changes to the values of these parameters are exe-
cuted by the drive controller immediately on receipt of the data
set.
• Verify that the system is free and ready for movement before
changing these parameters.
Failure to follow these instructions can result in death, serious
injury or equipment damage.